基于偏置补偿的6自由度腕部偏置机器人逆解算法  

Inverse Kinematics Algorithm for 6-DOF Robots with Offset Wrist Based on Offset Compensation

作　　者：刘志忠[1] 柳洪义[1] 罗忠[1] 王菲[1] 

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报（自然科学版）》2012年第6期870-874,共5页Journal of Northeastern University(Natural Science)

基　　金：国家高技术研究发展计划项目(2008AA04Z305);河南省教育厅自然科学研究计划项目(2010A460011)

摘　　要：串联6自由度腕部偏置机器人一般没有实用的封闭形式位置逆解.根据几何特征分析,以对应的腕部无偏置机器人的封闭解为基础,通过对腕部偏置量的平移补偿和对手腕位置点坐标的迭代修正,得到了腕部偏置机器人位置逆解的数值解.算法保证了末端姿态的正确性.根据末端位置精度要求控制迭代次数,可以得到任意精度的位置逆解.逆解过程中各关节变量的计算采用腕部无偏置机器人的封闭解,使得程序具有通用性.大量的数据试验表明,该算法可以满足实时控制要求.Generally,there are no practical closed-form inverse kinematics solutions for 6-DOF serial robot manipulators with offset wrist.According to the geometric characters of the wrist offsets,based on the corresponding spherical wrist manipulator,numerical solutions for the manipulators with offset wrist can be obtained by complementally translating and iteratively correcting its wrist position.The algorithm does not affect the end orientation.Position errors are directly used to control the iterative process,so the numerical solutions can be evaluated to arbitrary precision.In the process,all joint variables are always computed by using the closed-form solutions of the corresponding spherical wrist manipulator,thus the codes are versatile.A large number of tests confirms that the algorithm can meet the requirements of real-time control.

关 键 词：机器人 偏置手腕 位置逆解 偏置补偿 迭代算法 

分 类 号：TH112[机械工程—机械设计及理论] TP241[自动化与计算机技术—检测技术与自动化装置]